Abstract [en]

A developed concept model of an operating device for a haptic unit with six degrees of freedom (DOF) is presented in this report. The haptic unit has been developed by the KTH Department of Machine Design and the Karolinska Institutet. The purpose of the project was to identify the type of medical/chirurgical scenarios suitable for simulation by the haptic unit and from this identify and design an ergonomic drill handle. The haptic unit enables force and torque feedback which is needed to simulate bone milling as well as drilling in teeth. Due to this, the possibility to simulate a procedure where looked at for neurosurgery and dentistry. Both field studies and literature showed that the haptic unit is better adapted to simulate neurosurgery in realistic and satisfactory way. The presented concept is an operating device shaped like a pen with a soft part for the fingertips to give good grip and to reduce vibrations. Underneath the soft part, a pressure sensitive speed regulator for the drill is placed i.e. the speed of the drill is dependent on the pressure applied by the surgeon. A number of factors influence the ergonomic situation and the handle alone is not enough to solely solve the ergonomic situation. A recommendation for future improvement first of all includes a re-positioning of the haptic unit to better correspond to a neurosurgical operation and a technological solution for the concept idea on regulating the drill. An improved simulation program is required to enable training a whole operation. During a longer simulation, more instruments are needed which can be solved by using a quick fastening system for different handles. Also, a technical solution for simultaneous use of multiple instruments is needed.